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Best practice for ssh'ing between GCE instances

I have two GCE instances, and I would like to be able to seamlessly ssh between them. /home is NFS mounted across the two, so it would be trivial to set up an authorized_keys solution, but I'm wondering if there are better ways.

It should be mentioned that both instances use OS Login.

I know that this can be achieved with gcloud compute ssh ... but various legacy applications we use expect a normal ssh to work.

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